U.S. patent number 10,836,394 [Application Number 16/204,362] was granted by the patent office on 2020-11-17 for apparatus and method for lane change control.
This patent grant is currently assigned to HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION. The grantee listed for this patent is HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION. Invention is credited to Jae Yong Jeon, Jin Su Jeong, Beom Jun Kim, Hoi Won Kim, Dong Eon Oh, Chan Il Park, Doo Jin Um.
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United States Patent |
10,836,394 |
Kim , et al. |
November 17, 2020 |
Apparatus and method for lane change control
Abstract
An apparatus for lane change control for a vehicle may include:
a determination device to determine lane change conditions for a
first vehicle and a second vehicle, which are each travelling in a
target lane to which a host vehicle performs a lance change; and a
controller to perform the lane change control for the host vehicle
when both the lane change conditions for the first and second
vehicles are met. In particular, the first vehicle is located
behind the host vehicle, and the second vehicle is located in front
of the host vehicle.
Inventors: |
Kim; Hoi Won (Gwacheon-si,
KR), Jeon; Jae Yong (Gyeonggi-do, KR), Kim;
Beom Jun (Seoul, KR), Oh; Dong Eon (Seoul,
KR), Park; Chan Il (Chungcheongbuk-do, KR),
Jeong; Jin Su (Suwon-si, KR), Um; Doo Jin (Seoul,
KR) |
Applicant: |
Name |
City |
State |
Country |
Type |
HYUNDAI MOTOR COMPANY
KIA MOTORS CORPORATION |
Seoul
Seoul |
N/A
N/A |
KR
KR |
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Assignee: |
HYUNDAI MOTOR COMPANY (Seoul,
KR)
KIA MOTORS CORPORATION (Seoul, KR)
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Family
ID: |
64604579 |
Appl.
No.: |
16/204,362 |
Filed: |
November 29, 2018 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20190315360 A1 |
Oct 17, 2019 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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62655831 |
Apr 11, 2018 |
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Foreign Application Priority Data
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Oct 8, 2018 [KR] |
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10-2018-0119957 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W
30/085 (20130101); B60W 40/09 (20130101); B60W
50/10 (20130101); B60W 50/14 (20130101); B60W
50/0098 (20130101); B60W 30/18163 (20130101); G08G
1/166 (20130101); G08G 1/167 (20130101); B60W
30/0956 (20130101); B60W 50/085 (20130101); B60W
2720/106 (20130101); B60W 2554/804 (20200201); B60W
2554/801 (20200201); B60W 2554/80 (20200201); B60W
2540/30 (20130101); B60W 2050/146 (20130101); B60W
2520/10 (20130101); B60W 2050/0066 (20130101) |
Current International
Class: |
B60W
30/085 (20120101); B60W 50/14 (20200101); B60W
50/10 (20120101); G08G 1/16 (20060101); B60W
50/00 (20060101); B60W 50/08 (20200101); B60W
40/09 (20120101); B60W 30/095 (20120101); B60W
30/18 (20120101) |
Field of
Search: |
;701/96 |
References Cited
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Primary Examiner: Badii; Behrang
Assistant Examiner: Abd El Latif; Hossam M
Attorney, Agent or Firm: Brinks Gilson & Lione
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This application claims priority to and the benefit of Korean
Patent Application No. 10-2018-0119957, filed Oct. 8, 2018, which
claims priority to and the benefit of U.S. Patent Application No.
62/655,831, filed on Apr. 11, 2018, the entirety of each of which
are incorporated herein by reference.
Claims
What is claimed is:
1. An apparatus for a lane change control, comprising: a
determination device configured to determine lane change conditions
for a first vehicle and a second vehicle, which are each travelling
in a target lane to which a host vehicle performs a lane change,
wherein the first vehicle is located behind the host vehicle, and
the second vehicle is located in front of the host vehicle; a
controller configured to perform the lane change control for the
host vehicle when both the lane change conditions for the first and
second vehicles are met; and a prediction device configured to:
determine a speed adjustment range of the host vehicle based on
lane change configuration information preset by a driver of the
host vehicle when a first critical distance or a second critical
distance is less than a reference distance, and predict whether a
lane change is possible with acceleration or deceleration of the
host vehicle within the speed adjustment range, wherein: the lane
change configuration information comprises a maximum speed
difference for allowing acceleration and a maximum speed difference
for allowing deceleration, and the prediction device is configured
to determine the speed adjustment range based on the maximum speed
difference for allowing acceleration and the maximum speed
difference for allowing deceleration.
2. The apparatus according to claim 1, further comprising: a
calculation device configured to calculate the first critical
distance based on a vehicle speed of the first vehicle and a
vehicle speed of the host vehicle and to calculate the second
critical distance based on a vehicle speed of the second vehicle
and the vehicle speed of the host vehicle.
3. The apparatus according to claim 2, wherein the determination
device is configured to: when the first and second critical
distances are greater than or equal to a reference distance,
determine that both the lane change conditions for the first and
second vehicles are met.
4. The apparatus according to claim 1, wherein the prediction
device is configured to: determine that the lane change is possible
with the acceleration, when at least one first speed capable of
performing the lane change is found within the speed adjustment
range corresponding to the maximum speed difference for allowing
acceleration based on a setting speed of the host vehicle.
5. The apparatus according to claim 4, wherein the controller is
configured to: determine a target speed with respect to a lower
value among the at least one first speed, when the lane change is
possible with the acceleration.
6. The apparatus according to claim 1, wherein the prediction
device is configured to: determine that the lane change is possible
with the deceleration, when at least one second speed capable of
performing the lane change is found within the speed adjustment
range corresponding to the maximum speed difference for allowing
deceleration based on a setting speed of the host vehicle.
7. The apparatus according to claim 6, wherein the controller is
configured to: when it is determined that the lane change by the
deceleration is possible, determine a target speed for the lane
change control based on a higher value among the at least one
second speed.
8. The apparatus according to claim 1, wherein the lane change
configuration information comprises driving pattern information of
the driver of the host vehicle during the lane change control, and
the driving pattern includes a constant speed driving, an
acceleration in driving, a deceleration in driving, and a selection
thereof by the driver.
9. The apparatus according to claim 8, wherein the controller is
configured to: when the lane change is possible with the
acceleration or the deceleration, determine a target speed of the
host vehicle based on the acceleration in driving or the
deceleration in driving, and the driving pattern information.
10. The apparatus according to claim 9, wherein the controller is
configured to: when the driving pattern information shows the
constant speed driving pattern of the driver, determine the target
speed of the host vehicle based on a lowest value among differences
between a setting speed of the host vehicle and speeds capable of
performing the lane change within the speed adjustment range.
11. The apparatus according to claim 9, wherein the controller is
configured to: when the driving pattern information shows the
selection pattern by the driver, display an information screen on a
display and to inquire the driver to select the acceleration or the
deceleration for the lane change; and determine the target speed of
the host vehicle based on the selection by the driver through the
information screen.
12. A method for a lane change control, the method comprising:
determining, by a determination device, lane change conditions for
a first vehicle and a second vehicle, wherein the first vehicle is
located behind a host vehicle, and the second vehicle is located in
front of the host vehicle; and performing, by a controller, the
lane change control for the host vehicle based on a set target
speed, when both the lane change conditions for the first and
second vehicles are met, wherein determining the lane change
conditions comprises: calculating, by a calculating device, a first
critical distance based on a vehicle speed of the first vehicle and
a vehicle speed of the host vehicle; calculating, by the
calculating device, a second critical distance based on a vehicle
speed of the second vehicle and the vehicle speed of the host
vehicle; determining, by a prediction device, a speed adjustment
range of the host vehicle based on lane change configuration
information preset by a driver of the host vehicle when the first
critical distance or the second critical distance is less than a
reference distance, and predicting whether a lane change is
possible with an acceleration in driving or a deceleration in
driving of the host vehicle within the speed adjustment range,
wherein the lane change configuration information comprises a
maximum speed difference for allowing acceleration and a maximum
speed difference for allowing deceleration; and determining, by the
prediction device, the speed adjustment range based on the maximum
speed difference for allowing acceleration and the maximum speed
difference for allowing deceleration.
13. The method according to claim 12, wherein determining the lane
change conditions comprises: when the first and second critical
distances are greater than or equal to a reference distance,
determining that both the lane change conditions for the first and
second vehicles are met.
14. The method according to claim 12, further comprising: when the
lane change is possible with the acceleration or the deceleration
of the host vehicle, determining the target speed of the host
vehicle based on the acceleration or the deceleration of the host
vehicle, as well as driving pattern information of the driver of
the host vehicle, wherein the driving pattern information is
included in the lane change configuration information; and
performing the lane change control based on the determined target
speed.
15. The method according to claim 14, wherein predicting whether
the lane change is possible comprises: determining that the lane
change is possible with the acceleration, when at least one first
speed capable of performing the lane change is found within the
speed adjustment range corresponding to the maximum speed
difference for allowing acceleration based on a setting speed of
the host vehicle; and determining that the lane change is possible
with the deceleration, when at least one second speed capable of
performing the lane change is found within the speed adjustment
range corresponding to the maximum speed difference for allowing
deceleration based on the setting speed of the host vehicle.
16. The method according to claim 14, wherein the driving pattern
information of the driver comprises a constant speed driving, an
acceleration in driving, a deceleration in driving, or a selection
thereof by the driver during the lane change control; and wherein
determining the target speed comprises: when the driving pattern
information shows the selection pattern by the driver, displaying
an information screen on a display and inquiring the driver to
select the acceleration or the deceleration for the lane change;
and determining the target speed of the host vehicle based on the
selection by the driver through the information screen.
Description
FIELD
The present disclosure relates to an apparatus and method for lane
change control.
BACKGROUND
The statements in this section merely provide background
information related to the present disclosure and may not
constitute prior art.
Recently, a vehicle may be equipped with a plurality of systems for
supporting the driving of a driver to enhance his or her driving
convenience.
Among such driver supporting systems, a lane change control system
may determine a speed, a location, and the like of a surrounding
vehicle are suitable for performing a lane change and may control
steering torque, a vehicle speed, and the like, thus performing a
lane change.
In this case, the lane change control system may determine whether
a lane change is possible on the basis of a vehicle located at a
rear side of a host vehicle. When it is determined that the lane
change is possible, the lane change control system may perform lane
change control.
We have discovered that the conventional lane change control system
may fail to consider a vehicle located at a front side of the host
vehicle when determining whether a lane change is possible.
Furthermore, when it is verified that the lane change is
impossible, the lane change control system may notify a driver of
state information and does not perform a lane change. In this case,
we have also discovered that the lane change control system does
not consider a possibility of the lane change based on acceleration
or deceleration of the vehicle.
SUMMARY
An aspect of the present disclosure provides an apparatus for lane
change control and a method thereof to stably perform the lane
change control by determining whether a lane change is possible in
consideration of a vehicle located at a front side as well as a
vehicle located at a rear side of a host vehicle.
Another aspect of the present disclosure provides an apparatus for
lane change control for implementing a more precise lane change
control function by predicting whether a lane change is possible in
an acceleration or deceleration state in a state where a lane
change is impossible and performing lane change control based on
acceleration or deceleration depending on the predicted result and
a method thereof.
Another aspect of the present disclosure provides an apparatus for
lane change control for enhancing the satisfaction of a driver by
performing lane change control in consideration of a tendency of
the driver for acceleration or deceleration upon lane change
control and a method thereof.
The technical problems to be solved by the present inventive
concept are not limited to the aforementioned problems, and any
other technical problems not mentioned herein will be clearly
understood from the following description by those skilled in the
art to which the present disclosure pertains.
According to an aspect of the present disclosure, an apparatus for
lane change control may include: a determination device configured
to determine lane change conditions for a first vehicle and a
second vehicle, which are each travelling in a target lane to which
a host vehicle performs a lane change, wherein the first vehicle is
located behind the host vehicle, and the second vehicle is located
in front of the host vehicle, and a controller configured to
perform the lane change control for the host vehicle when both the
lane change conditions for the first and second vehicles are
met.
The apparatus for lane change control may further include a
calculation device configured to calculate a first critical
distance based on a vehicle speed of the first vehicle and a
vehicle speed of the host vehicle and calculate a second critical
distance based on a vehicle speed of the second vehicle and the
vehicle speed of the host vehicle.
The determination device may be configured to determine that both
the lane change conditions for the first and second vehicles are
met, when the first and second critical distances are greater than
or equal to a reference distance.
The apparatus for lane change control may further include a
prediction device configured to determine a speed adjustment range
of the host vehicle based on lane change configuration information
preset by a driver of the host vehicle when the first or second
critical distance is less than a reference distance and predict
whether a lane change is possible with acceleration or deceleration
of the host vehicle.
The lane change configuration information may include a maximum
speed difference for allowing acceleration and a maximum speed
difference for allowing deceleration.
The prediction device may be configured to determine the speed
adjustment range based on the maximum speed difference for allowing
acceleration and the maximum speed difference for allowing
deceleration
The prediction device may be configured to determine that the lane
change is possible with the acceleration, when there are at least
one or more first speeds capable of performing the lane change is
found within the speed adjustment range corresponding to the
maximum speed difference for allowing acceleration on the basis of
a setting speed of the host vehicle.
The controller may be configured to determine a target speed with
respect to a lower value among the at least one or more first
speeds, when it is verified that the lane change is possible with
the acceleration.
The prediction device may be configured to determine that the lane
change is possible with the deceleration, when there are at least
one or more second speeds capable of performing the lane change is
found within the speed adjustment range corresponding to the
maximum speed difference for allowing deceleration on the basis of
a setting speed of the host vehicle.
The controller may be configured to determine a target speed upon
lane change control on the basis of a higher value among the at
least one or more second speeds, when it is verified that the lane
change is possible with the deceleration.
The lane change configuration information may include driving
pattern information of the driver of the host vehicle during the
lane change control, and the driving pattern includes a constant
speed driving, an acceleration in driving, a deceleration in
driving, and a selection thereof by the driver of the host
vehicle.
When the lane change is possible with the acceleration or the
deceleration, the controller may be configured to determine a
target speed of the host vehicle based on the acceleration in
driving or the deceleration in driving, and the driving pattern
information.
When the driving pattern information shows the constant speed
driving pattern of the driver, the controller may be configured to
set a target speed of the host vehicle based on a lowest value
among differences between a setting speed of the host vehicle and
speeds capable of performing the lane change within the speed
adjustment range.
When the driving pattern information shows the selection pattern by
the driver, the controller may be configured to display an
information screen on a display and to inquire the driver to select
the acceleration or the deceleration for the lane change, and
determine the target speed of the host vehicle based on the
selection by the driver through the information screen.
According to another aspect of the present disclosure, a method for
lane change control may include: determining, by the determination
device, lane change conditions for a first vehicle and a second
vehicle, wherein the first vehicle is located behind the host
vehicle, and the second vehicle is located in front of the host
vehicle; and performing, by a controller, the lane change control
for the host vehicle based on a set target speed, when both the
lane change conditions for the first and second vehicles are
met.
Further areas of applicability will become apparent from the
description provided herein. It should be understood that the
description and specific examples are intended for purposes of
illustration only and are not intended to limit the scope of the
present disclosure.
DRAWINGS
In order that the disclosure may be well understood, there will now
be described various forms thereof, given by way of example,
reference being made to the accompanying drawings, in which:
FIG. 1 is a block diagram illustrating a configuration of an
apparatus for lane change control;
FIG. 2 is a drawing illustrating an operation of calculating a
critical distance in an apparatus for lane change control;
FIGS. 3A to 3D are drawings illustrating information screens;
FIGS. 4 to 7B are flowcharts illustrating a method for lane change
control; and
FIG. 8 is a block diagram illustrating a configuration of a
computing system which executes a method for lane change
control.
The drawings described herein are for illustration purposes only
and are not intended to limit the scope of the present disclosure
in any way.
DETAILED DESCRIPTION
The following description is merely exemplary in nature and is not
intended to limit the present disclosure, application, or uses. It
should be understood that throughout the drawings, corresponding
reference numerals indicate like or corresponding parts and
features.
In addition, in describing an exemplary form of the present
disclosure, if it is determined that a detailed description of
related well-known configurations or functions blurs the gist of
the present disclosure, it will be omitted.
In describing elements of forms of the present disclosure, the
terms 1.sup.st, 2.sup.nd, first, second, A, B, (a), (b), and the
like may be used herein. These terms are only used to distinguish
one element from another element, but do not limit the
corresponding elements irrespective of the nature, turn, or order
of the corresponding elements. Unless otherwise defined, all terms
used herein, including technical or scientific terms, have the same
meanings as those generally understood by those skilled in the art
to which the present disclosure pertains. Such terms as those
defined in a generally used dictionary are to be interpreted as
having meanings equal to the contextual meanings in the relevant
field of art, and are not to be interpreted as having ideal or
excessively formal meanings unless clearly defined as having such
in the present application.
FIG. 1 is a block diagram illustrating a configuration of an
apparatus for lane change control according to an exemplary form of
the present disclosure.
An apparatus 100 in one form of the present disclosure may be
implemented in a vehicle. In this case, the apparatus 100 may be
integrated with control units in the vehicle. Furthermore, the
apparatus 100 may be implemented independently of the control units
in the vehicle and may be connected with the control units of the
vehicle by a separate connection means. Herein, the apparatus 100
may be driven as a lane change assist system. The lane change
assist system may refer to a system which assists in controlling
steering torque and a vehicle speed and safely change a lane
without a collision with another vehicle located on a lane to be
changed (i.e., a target lane), when a driver wants to change a lane
while driving.
Referring to FIG. 1, the apparatus 100 may include a controller
110, an interface 120, a sensor device 125, a communication device
130, a storage 140, a calculation device 150, a determination
device 160, and a prediction device 170. Herein, the controller
110, the calculation device 150, the determination device 160, and
the prediction device 170 of the apparatus 100 according to an
exemplary form of the present disclosure may be implemented as at
least one or more processors.
The controller 110 may process a signal transmitted between
respective components of the apparatus 100.
The interface 120 include an input means for receiving a command
from the driver and an output means for outputting an operation
state, an operation result, and the like of the lane change control
device 100.
Herein, the input means may include a key button and may further
include a mouse, a joystick, a jog shuttle, a stylus pen, and the
like. The input means may further include a soft key implemented on
a display.
The output means may include the display and may further include a
voice output means such as a speaker. In this case, if a touch
sensor such as a touch film, a touch sheet, or a touch pad is
installed in the display, the display may operate as a touch screen
and may be implemented in the form of integrating the input means
with the output means.
In this case, the display may include at least one of a liquid
crystal display (LCD), a thin film transistor-LCD (TFT-LCD), an
organic light-emitting diode (OLED), a flexible display, a field
emission display (FED), or a three-dimensional (3D) display.
The sensor device 125 may detect other vehicles which are traveling
on a lane (e.g., a target lane) to be change upon lane change
control. In this case, the sensor device 125 may include one or
more sensors which detect a first vehicle behind a host vehicle on
a lane to be changed and a second vehicle in front of the host
vehicle on the lane to be changed.
The communication device 130 may include a communication module for
supporting a communication interface with electronics, and/or
control units mounted on the vehicle. As an example, the
communication module may receive information detected by the sensor
device 125. Furthermore, the communication module may transmit a
control signal of the controller 110 to each drive unit in the
vehicle upon lane change control.
Herein, the communication module may include a module for
supporting vehicle network communication such as controller area
network (CAN) communication, local interconnect network (LIN)
communication, flex-ray communication, and Ethernet
communication.
The storage 140 may store data, an algorithm, and/or the like
desired for operating the apparatus 100.
For example, the storage 140 may store condition information, a
command, and/or an algorithm desired to perform a lane change
control operation. Furthermore, the storage 140 may store detection
information of a first vehicle and a second vehicle and may store a
command and/or algorithm for calculating a critical distance based
on the detection information of the first vehicle and the second
vehicle.
Moreover, the storage 140 may store a command, an algorithm, and/or
the like for calculating a critical distance based on the detection
information of the first vehicle and the second vehicle,
determining whether a lane change is possible, and determining a
target speed.
Herein, the storage 140 may include storage media, for example, a
random access memory (RAM), a static RAM (SRAM), a read-only memory
(ROM), a programmable ROM (PROM), and an electrically erasable PROM
(EEPROM).
When a turn signal is activated, the determination device 160 may
determine a lane change condition for each of the first vehicle
behind a lane to be changed and the second vehicle in front of the
lane to be changed, upon lane change control.
Herein, the lane change condition may include a condition where a
first critical distance calculated based on a vehicle speed of the
first vehicle and a vehicle speed of the host vehicle and a second
critical distance calculated based on a vehicle speed of the second
vehicle and the vehicle speed of the host vehicle are greater than
or equal to a reference distance.
A description will be given for the first critical distance and the
second critical distance with reference to FIG. 2.
FIG. 2 is a drawing illustrating an operation of calculating a
critical distance in an apparatus in one form of the present
disclosure. As shown in FIG. 2, a first vehicle 21 may be located
at a rear side of a host vehicle 10, that is, behind a host
vehicle, traveling on a target lane to which the host vehicle will
make the lane change. In this case, a first critical distance may
refer to a distance considering risk to the first vehicle 21 when
the host vehicle 10 performs lane change control to the lane to be
changed.
Thus, a calculation device 150 of FIG. 1 may calculate the first
critical distance from the first vehicle 21 with reference to
Equation 1 below.
.times..times..times..times..times. ##EQU00001##
In Equation 1 above, S.sub.cri.rear may denote the first critical
distance from the first vehicle 21, V.sub.rear may denote a lower
value between a real vehicle speed of the first vehicle 21 and a
maximum speed limit (e.g., 130 km/h), V may denote a real vehicle
speed of the host vehicle 10, t.sub.B may denote a time (e.g., 0.4
seconds) desired until the first vehicle 21 starts to decelerate
after lane change control starts, a may denote a deceleration value
(e.g., 3 m/s.sup.2) of the first vehicle 21, and t.sub.G may denote
a time (e.g., 1 second) relative to V for a clearance between
vehicles after deceleration of the first vehicle 21.
The second vehicle 25 may be located at a front side of the host
vehicle 10, that is, in front of the host vehicle, travelling on
the target lane. In this case, a second critical distance may refer
to a distance considering risk to the second vehicle 25 when the
host vehicle 10 performs lane change control to the target
lane.
A calculation device 150 of FIG. 1 may calculate the second
critical distance from the second vehicle 25 with reference to
Equation 2 below.
.times..times..times..times..times. ##EQU00002##
In Equation 2 above, S.sub.cri.front front may denote the second
critical distance from the second vehicle 25, V may denote a real
vehicle speed of the host vehicle 10, V.sub.front may denote a
higher value between a real vehicle speed of the second vehicle 25
and a minimum speed limit, t.sub.m may denote a time desired until
the host vehicle 10 detects the second vehicle 25 after lane change
control starts, a.sub.s may denote a deceleration value of the
second vehicle 25, and t.sub.G may denote a time relative to V for
a clearance between vehicles after an approaching vehicle
decelerates.
When the calculated first and second critical distances are greater
than or equal to a reference distance, a determination device 160
of FIG. 1 may determine whether both of lane change conditions for
the first and second vehicles are met. Herein, the reference
distances may include a reference distance for the first critical
distance and a reference distance for the second critical
distance.
In this case, a controller 110 of FIG. 1 may perform lane change
control. Herein, the controller 110 may generate a control signal
for lane change control and may output the generated control signal
to each drive system in a vehicle, for example, a steering system,
an accelerator, a brake, and/or the like.
Meanwhile, when the first critical distance or the second critical
distance is less than the reference distance, the determination
device 160 may determine that the lane change conditions are not
met. When the lane change condition for the first or second vehicle
is not met, the determination device 160 may determine that a lane
change is impossible.
When it is verified that the lane change is impossible based on the
lane change condition, a prediction device 170 of FIG. 1 may
determine a speed adjustment range of the host vehicle 10 based on
lane change configuration information preset by the driver.
Herein, the lane change configuration information may include a
maximum speed difference for allowing acceleration and a maximum
speed difference for allowing deceleration with respect to a
setting speed of the host vehicle 10. The prediction device 170 may
determine a speed adjustment range relative to the setting speed of
the host vehicle 10 based on the maximum speed difference for
allowing acceleration and the maximum speed difference for allowing
deceleration, included in the lane change configuration
information.
As an example, when the setting speed of the host vehicle 10 is 100
kph, when the maximum speed difference for allowing deceleration is
1 kph, and when the maximum speed difference for allowing
acceleration is 3 kph, the prediction device 170 may determine the
speed adjustment range as a range of 98 kph to 103 kph.
The prediction device 170 may predict whether a lane change by
acceleration or deceleration is possible within the determined
speed adjustment range. In this case, the prediction device 170 may
predict a situation where lane change control is performed, with
respect to each speed within the determined speed adjustment range
and may determine whether a lane change is possible for each
speed.
Herein, when there are at least one or more first speeds capable of
performing a lane change within a speed adjustment range
corresponding to the maximum speed difference for allowing
acceleration with respect to the setting speed of the host vehicle
10, the prediction device 170 may determine that the lane change by
acceleration is possible. Furthermore, when there are at least one
or more second speeds capable of performing a lane change among
speeds slower than the setting speed of the host vehicle 10 within
the speed adjustment range, the prediction device 170 may determine
that the lane change by deceleration is possible.
Meanwhile, when it is determined that both the lane changes by the
acceleration and the deceleration are impossible, the controller
110 may notify a driver of it. In this case, the controller 110 may
configure a first information screen for notifying the driver that
the lane change is impossible and may display the first information
screen on a display of an interface 120 of FIG. 1. A description
will be given for the first information screen with reference to
FIG. 3A.
FIGS. 3A to 3D are drawings illustrating information screens in one
form of the present disclosure. As shown in FIG. 3A, a first
information screen 311 may include an information message 315 "The
lane change is impossible." Thus, a driver may recognize a state
where the lane change is impossible, through the information
message 315 on the first information screen 311.
When a state where a lane change by acceleration is possible is
verified, a controller 110 of FIG. 1 may determine an acceleration
based target speed on the basis of a lower value among at least one
or more first speeds.
Furthermore, when a state where a lane change by deceleration is
possible is verified, the controller 110 may determine a
deceleration based target speed on the basis of a higher value
among at least one or more second speeds.
Meanwhile, lane change configuration information may further
include information about a tendency of the driver associated with
lane change control (namely, a driving pattern information). For
example, the lane change configuration information may include the
driving pattern information indicating whether the driver usually
performs the lane change control while accelerating, decelerating
of the host vehicle, or at a constant speed of the host vehicle, or
by selecting any of these (e.g., the acceleration, deceleration,
constant speed driving patterns), namely, a driver selection
type.
The controller 110 may determine a target speed in consideration of
information about the driving pattern of the driver for the lane
change control. In other words, when the driving pattern of the
driver shows the acceleration driving pattern during the lance
change, the controller 110 may determine an acceleration based
target speed as a target speed of a host vehicle. Herein, although
the driving pattern of the driver is the acceleration driving
pattern, when an acceleration based lane change is impossible, the
controller 110 may determine a deceleration based target speed as a
target speed of the host vehicle.
Meanwhile, when the driving pattern of the driver for the lane
change is the deceleration driving pattern, the controller 110 may
determine a deceleration based target speed as a target speed of
the host vehicle. Herein, although the driving pattern of the
driver is the deceleration driving pattern, when a deceleration
based lane change is impossible, the controller 110 may determine
an acceleration based target speed as a target speed of the host
vehicle.
When the driving pattern of the driver for the lane change is the
constant speed driving pattern, the controller 110 may determine a
target speed of the host vehicle on the basis of a value in which a
difference with a setting speed of the host vehicle between the
deceleration based target speed and the acceleration based target
speed is small.
When the target speed of the host vehicle is determined, the
controller 110 may perform lane change control based on the
determined target speed.
In this case, the controller 110 may configure an information
screen for a situation where lane change control is performed and
may display the information screen on a display of an interface 120
of FIG. 1.
For example, when a target speed of the host vehicle is set on the
basis of the deceleration based target speed, as shown in FIG. 3B,
the controller 110 may configure a second information screen 321
for notifying the driver of a situation where a lane change by
deceleration is performed through the information message 325 "It
is expected to perform a lane change after deceleration." and may
display the second information screen 321 on the display.
For another example, when a target speed of the host vehicle is set
on the basis of the deceleration based target speed, as shown in
FIG. 3C, the controller 110 may configure a third information
screen 331 for notifying the driver of a situation where a lane
change by deceleration is performed through the query message 325,
"It is expected to perform a lane change after deceleration. Do you
approve it?", for requesting an approval for lane change control by
deceleration and may display the third information screen 331 on
the display. In this case, when "Yes" on the third information
screen 331 is selected by the driver, the controller 110 may
perform lane change control based on deceleration.
Meanwhile, when the information about the tendency of the driver is
set to information about a driver selection type, as shown in FIG.
3D, the controller 110 may display a fourth information screen 341
for inquiring about whether to accelerate or decelerate on the
display of the interface 120. The controller 110 may determine a
target speed of the host vehicle with respect to any one of the
deceleration based target speed and the acceleration based target
speed depending on driver feedback input through the fourth
information screen 341.
Referring to FIG. 3D, the fourth information screen 341 may include
selection buttons 347 and 349 for an "up (+)" direction and a "down
(-)" direction, together with the information message 345 "There is
a need for speed control upon lane change.".
The driver may select an acceleration or deceleration type by
selecting the selection button 347 or 349 for the "up (+)" or "down
(-)" direction. In this case, the controller 110 may determine a
target speed of the host vehicle on the basis of any one of the
deceleration based target speed or the acceleration based target
speed depending on the selection of the driver.
Herein, when a lane change by acceleration is impossible, the
controller 110 may deactivate the selection button 347
corresponding to the "up (+)" direction. When a lane change by
deceleration is impossible, the controller 110 may deactivate the
selection button 349 corresponding to the "down (-)" direction.
In this case, the controller 110 may perform lane change control
based on the determined target speed.
The apparatus 100 in one form of the present disclosure may be
implemented in the form of an independent hardware device including
a memory and a processor for processing each operation or may be
driven in the form of being included in another hardware device
such as a microprocessor or a universal computer system.
A description will be given in detail of an operation of the
apparatus 100 including the above-mentioned components.
FIGS. 4 to 7B are flowcharts illustrating a method for lane change
control according to another exemplary form of the present
disclosure.
Referring to FIG. 4, when a turn signal is activated in operation
S110, in operation S120, an apparatus may determine whether a first
critical distance calculated for a first vehicle behind a lane to
be changed is greater than or equal to a reference distance D1. In
operation S130, the apparatus may determine whether a second
critical distance calculated for a second vehicle in front of the
lane to be changed is greater than or equal to a reference distance
D2.
When both the first and second critical distances are greater than
or equal to the reference distances D1 and D2, respectively, in
operations S120 and S130, in operation S135, the apparatus may
determine that both of lane change conditions for the first and
second vehicles are met and may notify the driver of a state where
lane change control is performed. In operation S200, the apparatus
may perform lane change control.
Meanwhile, when the first or second critical distance is less than
the reference distance D1 or D2 in operation S120 or S130, in
operation S140, the apparatus may determine that the lane change
conditions are not met and may verify that a lane change is
impossible.
When it is verified that the lane change is impossible in operation
S140, in operation S150, the apparatus may call lane change
configuration information preset by the driver. In operation S160,
the apparatus may predict whether a lane change by
acceleration/deceleration is possible, based on the lane change
configuration information called in operation S150.
In operation S160, the apparatus 100 may determine a speed
adjustment range relative to a setting speed of a host vehicle
based on a maximum speed difference for allowing acceleration and a
maximum speed difference for allowing deceleration included in the
lane change configuration information and may predict a situation
where lane change control is performed, with respect to each speed
in the determined speed adjustment range, thus determining whether
a lane change is possible for each speed.
When it is verified that the lane change is impossible in operation
S170, in operation S171, the apparatus 100 may configure an
information screen and may notify the driver that the lane change
is impossible to end the process.
On the other hand, when it is verified that the lane change is
possible in operation S170, in operation S180, the apparatus 100
may determine a target speed. In operation S190, the apparatus 100
may notify the driver that a lane change is performed by speed
adjustment.
In operation S200, the apparatus 100 may perform lane change
control on the basis of the changed target speed.
FIG. 5 illustrates a detailed operation of operation S160 of FIG.
4.
Referring to FIG. 5, in operation S310, an apparatus 100 may set
initial variables, for example, "V=V.sub.cur-V.sub..DELTA.max-1",
".DELTA.V=1 kph", "Index=0", and "Flag.sub.Est=0". In this case, in
operation S320, the apparatus 100 may predict whether a lane change
is possible on the basis of the set V.
When the lane change is possible on the basis of V in operation
S320, in operation S330, the apparatus 100 may set variables, for
example, "FlagEst=1" and "V[Index].sub.LC=V".
Meanwhile, when the lane change is impossible on the basis of V in
operation S320, the apparatus 100 may omit operation S330.
In operation S345, the apparatus 100 may increase V by .DELTA.V and
may increase the index by 1 until "V=V.sub.cur+V.sub..DELTA.max+"
and may repeat operation S320.
When "V=V.sub.cur+V.sub..DELTA.max+" in operation S340, in
operations S350 to S370, the apparatus 100 may determine a state
where the lane change is possible or impossible depending on
whether there is "V[Index].sub.LC=C" where "Flag.sub.Est=1".
FIGS. 6, 7A and 7B illustrate a detailed operation of operation
S180 of FIG. 4.
First of all, referring to FIG. 6, in operation S410, an apparatus
100 may set initial variables, for example, "Flag+=0", "Flag-=0",
and "Index=size (V.sub.ok)". Herein, "Index=size(V.sub.ok)" may
refer to an index value in which there is a real vehicle speed V of
a host vehicle capable of performing a lane change in the process
of FIG. 5, and an initial value of an index may be set to the
highest value among index values.
When "V[index].sub.LC-V.sub.cur>0" in operation S420, in
operation S430, the apparatus 100 may set variables, for example,
"Flag+=1" and "V.sub.final+=V[Index].sub.LC". When
"V[index].sub.LC-V.sub.cur.ltoreq.0" in operation S420, in
operation S425, the apparatus 100 may set variables, for example,
"Flag-=1" and "V.sub.final-=V[Index].sub.LC". The apparatus 100 may
decrease the index by 1 until "Index=0" and may repeat operations
S420 to S440.
Thereafter, the apparatus 100 may perform the process from A of
FIG. 7A.
The apparatus 100 may determine a target speed in consideration of
a driving pattern of a driver for the lane change.
Referring to FIGS. 7A and 7B, in operation S510, the apparatus 100
may set an initial variable, for example, "Flag.sub.LC=0" and may
determine the driving pattern of the driver from lane change
configuration information.
When the driving pattern of the driver is a constant speed driving
pattern in operation S520, the apparatus 100 may perform operations
S521 to S523 of FIG. 7A and S524 to S527 of FIG. 7B, and may set a
target speed on the basis of a speed with the lowest difference
with a setting speed of a vehicle among speeds capable of
performing a lane change.
Meanwhile, when the driving pattern of the driver for the lane
change is an acceleration driving pattern in operation S530, in
operation S531, the apparatus 100 may verify whether "Flag+=1" by
the process of FIG. 6. "Flag+=1" may mean that a lane change
acceleration is possible. Thus, when "Flag+=1" in operation S531,
in operation S532, the apparatus 100 may set a target speed of a
host vehicle, for example, "V.sub.final=V.sub.final+", and may set
a variable, for example, "Flag.sub.LC=1". Meanwhile, when
"Flag+.noteq.1" in operation S531, in operation S533, the apparatus
100 may set the target speed of the host vehicle, for example,
"V.sub.final=V.sub.final-" and may set a variable, for example,
"Flag.sub.LC=1".
Meanwhile, when the driving pattern of the driver for the lane
change is a deceleration driving pattern in operation S540, in
operation S541, the apparatus 100 may verify whether "Flag-=1" by
the process of FIG. 6. "Flag-=1" may mean that a lane change by
deceleration is possible. Thus, when "Flag-1=1" in operation S541,
in operation S542, the apparatus 100 may set the target speed of
the host vehicle, for example, "V.sub.final=V.sub.final-" and may
set a variable, for example, "Flag.sub.LC=1". Meanwhile, when
"Flag-.noteq.1" in operation S541, in operation S543, the apparatus
100 may set the target speed of the host vehicle, for example,
"V.sub.final=V.sub.final+" and may set a variable, for example,
"Flag.sub.LC=1".
Meanwhile, when the driving pattern of the driver is not set to any
one of the patterns, i.e., the constant speed driving, the
acceleration driving, or the deceleration driving, in operation
S550, the apparatus 100 may guide the driver to select an
acceleration/deceleration type.
Thereafter, when driver feedback of the acceleration type is
received through operation S550 in operations S560 and S570, in
operation S580, the apparatus 100 may set the target speed of the
host vehicle, for example, "V.sub.final=V.sub.final+" and may set a
variable, for example, "Flag.sub.LC=1". Meanwhile, when driver
feedback of the acceleration type is received through operation
S550 in operations S560 and S570, in operation S590, the apparatus
100 may set the target speed of the host vehicle, for example,
"V.sub.final=V.sub.final-" and may set the variable, for example,
"Flag.sub.LC=1".
Meanwhile, when driver feedback is not received over time T through
operation S550 in operation S565, the apparatus 100 may perform
operation S171 of FIG. 4.
FIG. 8 is a block diagram illustrating a configuration of a
computing system which executes a method according to an exemplary
form of the present disclosure.
Referring to FIG. 8, a computing system 1000 may include at least
one processor 1100, a memory 1300, a user interface input device
1400, a user interface output device 1500, a storage 1600, and a
network interface 1700, which are connected with each other via a
bus 1200.
The processor 1100 may be a central processing unit (CPU) or a
semiconductor device for processing instructions stored in the
memory 1300 and/or the storage 1600. Each of the memory 1300 and
the storage 1600 may include various types of volatile or
non-volatile storage media. For example, the memory 1300 may
include a read only memory (ROM) and a random access memory
(RAM).
Thus, the operations of the methods or algorithms described in
connection with the forms disclosed in the specification may be
directly implemented with a hardware module, a software module, or
combinations thereof, executed by the processor 1100. The software
module may reside on a storage medium (e.g., the memory 1300 and/or
the storage 1600) such as a RAM, a flash memory, a ROM, an erasable
and programmable ROM (EPROM), an electrically EPROM (EEPROM), a
register, a hard disc, a removable disc, or a compact disc-ROM
(CD-ROM). An exemplary storage medium may be coupled to the
processor 1100. The processor 1100 may read out information from
the storage medium and may write information in the storage medium.
Alternatively, the storage medium may be integrated with the
processor 1100. The processor and storage medium may reside in an
application specific integrated circuit (ASIC). The ASIC may reside
in a user terminal. Alternatively, the processor and storage medium
may reside as a separate component of the user terminal.
According to another form of the present disclosure, the apparatus
100 may stably perform lane change control by determining whether a
lane change is possible in consideration of a vehicle located at a
front side of a host vehicle as well as a vehicle located at a rear
side of the host vehicle upon lane change control.
Furthermore, in other form of the present disclosure, the apparatus
100 may implement a more precise lane change control function by
predicting whether a lane change is possible in an acceleration or
deceleration state in a state where a lane change is impossible and
performing lane change control based on acceleration or
deceleration depending on the predicted result. The apparatus 100
may enhance the satisfaction of the driver by performing lane
change control in consideration of a tendency of the driver for
acceleration or deceleration upon lane change control.
Hereinabove, although the present disclosure has been described
with reference to exemplary forms and the accompanying drawings,
the present disclosure is not limited thereto, but may be variously
modified and altered by those skilled in the art to which the
present disclosure pertains without departing from the spirit and
scope of the present disclosure.
* * * * *